OpenRaiser/Intern-Atlas huggingface dataset:
Face Presentation Attack Detection via Content-Adaptive Spatial Operators
Venue: arXiv cs.CV 2026
Year: 2026

Face presentation attack detection (FacePAD) is critical for securing facial authentication against print, replay, and mask-based spoofing. This paper proposes CASO-PAD, an RGB-only, single-frame model that enhances MobileNetV3 with content-adaptive spatial operators (involution) to better capture localized spoof cues. Unlike spatially shared convolution kernels, the proposed operator generates location-specific, channel-shared kernels conditioned on the input, improving spatial selectivity with minimal overhead. CASO-PAD remains lightweight (3.6M parameters; 0.64 GFLOPs at $256\times256$) and is trained end-to-end using a standard binary cross-entropy objective. Extensive experiments on Replay-Attack, Replay-Mobile, ROSE-Youtu, and OULU-NPU demonstrate strong performance, achieving 100/100/98.9/99.7\% test accuracy, AUC of 1.00/1.00/0.9995/0.9999, and HTER of 0.00/0.00/0.82/0.44\%, respectively. On the large-scale SiW-Mv2 Protocol-1 benchmark, CASO-PAD further attains 95.45\% accuracy with 3.11\% HTER and 3.13\% EER, indicating improved robustness under diverse real-world attacks. Ablation studies show that placing the adaptive operator near the network head and using moderate group sharing yields the best accuracy--efficiency balance. Overall, CASO-PAD provides a practical pathway for robust, on-device FacePAD with mobile-class compute and without auxiliary sensors or temporal stacks.
TactEx: An Explainable Multimodal Robotic Interaction Framework for Human-Like Touch and Hardness Estimation
Venue: arXiv cs.RO 2026
Year: 2026

Accurate perception of object hardness is essential for safe and dexterous contact-rich robotic manipulation. Here, we present TactEx, an explainable multimodal robotic interaction framework that unifies vision, touch, and language for human-like hardness estimation and interactive guidance. We evaluate TactEx on fruit-ripeness assessment, a representative task that requires both tactile sensing and contextual understanding. The system fuses GelSight-Mini tactile streams with RGB observations and language prompts. A ResNet50+LSTM model estimates hardness from sequential tactile data, while a cross-modal alignment module combines visual cues with guidance from a large language model (LLM). This explainable multimodal interface allows users to distinguish ripeness levels with statistically significant class separation (p < 0.01 for all fruit pairs). For touch placement, we compare YOLO with Grounded-SAM (GSAM) and find GSAM to be more robust for fine-grained segmentation and contact-site selection. A lightweight LLM parses user instructions and produces grounded natural-language explanations linked to the tactile outputs. In end-to-end evaluations, TactEx attains 90% task success on simple user queries and generalises to novel tasks without large-scale tuning. These results highlight the promise of combining pretrained visual and tactile models with language grounding to advance explainable, human-like touch perception and decision-making in robotics.
Robust and Efficient Tool Orchestration via Layered Execution Structures with Reflective Correction
Venue: arXiv cs.AI 2026
Year: 2026

Tool invocation is a core capability of agentic systems, yet failures often arise not from individual tool calls but from how multiple tools are organized and executed together. Existing approaches tightly couple tool execution with stepwise language reasoning or explicit planning, leading to brittle behavior and high execution overhead. To overcome these limitations, we revisit tool invocation from the perspective of tool orchestration. Our key insight is that effective orchestration does not require precise dependency graphs or fine-grained planning. Instead, a coarse-grained layer structure suffices to provide global guidance, while execution-time errors can be corrected locally. Specifically, we model tool orchestration as learning a layered execution structure that captures high-level tool dependencies, inducing layer-wise execution through context constraints. To handle execution-time failures, we introduce a schema-aware reflective correction mechanism that detects and repairs errors locally. This design confines errors to individual tool calls and avoids re-planning entire execution trajectories. This structured execution paradigm enables a lightweight and reusable orchestration component for agentic systems. Experimental results show that our approach achieves robust tool execution while reducing execution complexity and overhead. Code will be made publicly available.
Frame2Freq: Spectral Adapters for Fine-Grained Video Understanding
Venue: arXiv cs.CV 2026
Year: 2026

Adapting image-pretrained backbones to video typically relies on time-domain adapters tuned to a single temporal scale. Our experiments show that these modules pick up static image cues and very fast flicker changes, while overlooking medium-speed motion. Capturing dynamics across multiple time-scales is, however, crucial for fine-grained temporal analysis (i.e., opening vs. closing bottle). To address this, we introduce Frame2Freq -- a family of frequency-aware adapters that perform spectral encoding during image-to-video adaptation of pretrained Vision Foundation Models (VFMs), improving fine-grained action recognition. Frame2Freq uses Fast Fourier Transform (FFT) along time and learns frequency-band specific embeddings that adaptively highlight the most discriminative frequency ranges. Across five fine-grained activity recognition datasets, Frame2Freq outperforms prior PEFT methods and even surpasses fully fine-tuned models on four of them. These results provide encouraging evidence that frequency analysis methods are a powerful tool for modeling temporal dynamics in image-to-video transfer. Code is available at https://github.com/th-nesh/Frame2Freq.
Miniaturized Pneumatic Actuator Array for Multipoint Deep Pressure Tactile Stimulation
Venue: arXiv cs.HC 2026
Year: 2026

Wearable distributed tactile devices aim to provide multipoint touch stimuli, but struggle to provide sufficient forces (> 1 N) at frequencies to invoke deep pressure sensation with minimal encumbrance at small scales. This work presents a method of fabricating arrays of pneumatic actuators from thermoplastic-coated textiles. By routing pneumatic inlets to a common fold line in the fabric, we demonstrate that multiple pneumatic pouch actuators can be formed in a single simple heat-pressing operation that does not require the use of sacrificial blocking layers. The method accommodates a range of actuator diameters and spacing distances, including as compact as 8 mm diameter actuators spaced 1 mm apart, which enables use in fingertip wearable devices. In a blocked force test, these small pneumatic textile actuators exert 2.1 N when pressurized to 230 kPa. With this pair of actuators, we demonstrate an example application in which we invoke both distinct and summative stimuli, suggesting the possibility of titrating just noticeable difference in amplitude with a textile actuator array.
SeaCache: Spectral-Evolution-Aware Cache for Accelerating Diffusion Models
Venue: arXiv cs.CV 2026
Year: 2026

Diffusion models are a strong backbone for visual generation, but their inherently sequential denoising process leads to slow inference. Previous methods accelerate sampling by caching and reusing intermediate outputs based on feature distances between adjacent timesteps. However, existing caching strategies typically rely on raw feature differences that entangle content and noise. This design overlooks spectral evolution, where low-frequency structure appears early and high-frequency detail is refined later. We introduce Spectral-Evolution-Aware Cache (SeaCache), a training-free cache schedule that bases reuse decisions on a spectrally aligned representation. Through theoretical and empirical analysis, we derive a Spectral-Evolution-Aware (SEA) filter that preserves content-relevant components while suppressing noise. Employing SEA-filtered input features to estimate redundancy leads to dynamic schedules that adapt to content while respecting the spectral priors underlying the diffusion model. Extensive experiments on diverse visual generative models and the baselines show that SeaCache achieves state-of-the-art latency-quality trade-offs.
MagicAgent: Towards Generalized Agent Planning
Venue: arXiv cs.AI 2026
Year: 2026

The evolution of Large Language Models (LLMs) from passive text processors to autonomous agents has established planning as a core component of modern intelligence. However, achieving generalized planning remains elusive, not only by the scarcity of high-quality interaction data but also by inherent conflicts across heterogeneous planning tasks. These challenges result in models that excel at isolated tasks yet struggle to generalize, while existing multi-task training attempts suffer from gradient interference. In this paper, we present \textbf{MagicAgent}, a series of foundation models specifically designed for generalized agent planning. We introduce a lightweight and scalable synthetic data framework that generates high-quality trajectories across diverse planning tasks, including hierarchical task decomposition, tool-augmented planning, multi-constraint scheduling, procedural logic orchestration, and long-horizon tool execution. To mitigate training conflicts, we propose a two-stage training paradigm comprising supervised fine-tuning followed by multi-objective reinforcement learning over both static datasets and dynamic environments. Empirical results show that MagicAgent-32B and MagicAgent-30B-A3B achieve superior performance across diverse open-source benchmarks (\emph{e.g.}, $75.1\%$ on Worfbench and $86.9\%$ on BFCL-v3), as well as strong results on our in-house MagicEval benchmarks, substantially outperforming existing sub-100B models and surpassing leading ultra-scale models, including GPT-5.2, Kimi-K2 and GLM-4.7.
LLM Scalability Risk for Agentic-AI and Model Supply Chain Security
Venue: arXiv cs.CR 2026
Year: 2026

Large Language Models (LLMs) & Generative AI are transforming cybersecurity, enabling both advanced defenses and new attacks. Organizations now use LLMs for threat detection, code review, and DevSecOps automation, while adversaries leverage them to produce malwares and run targeted social-engineering campaigns. This paper presents a unified analysis integrating offensive and defensive perspectives on GenAI-driven cybersecurity. Drawing on 70 academic, industry, and policy sources, it analyzes the rise of AI-facilitated threats and its implications for global security to ground necessity for scalable defensive mechanisms. We introduce two primary contributions: the LLM Scalability Risk Index (LSRI), a parametric framework to stress-test operational risks when deploying LLMs in security-critical environments & a model-supply-chain framework establishing a verifiable root of trust throughout model lifecycle. We also synthesize defense strategies from platforms like Google Play Protect, Microsoft Security Copilot and outline a governance roadmap for secure, large-scale LLM deployment.
SKYLIGHT: A Scalable Hundred-Channel 3D Photonic In-Memory Tensor Core Architecture for Real-time AI Inference
Venue: arXiv cs.ET 2026
Year: 2026

The growing computational demands of artificial intelligence (AI) are challenging conventional electronics, making photonic computing a promising alternative. However, existing photonic architectures face fundamental scalability and reliability barriers. This paper introduces SKYLIGHT, a scalable 3D photonic in-memory tensor core architecture designed for real-time AI inference. By co-designing its topology, wavelength routing, accumulation, and programming in a 3D stack, SKYLIGHT overcomes key limitations. Its innovations include a low-loss 3D Si/SiN crossbar topology, a thermally robust non-micro-ring resonator (MRR)-based wavelength-division multiplexing (WDM) component, a hierarchical signal accumulation using a multi-port photodetector (PD), and optically programmed non-volatile phase-change material (PCM) weights. Importantly, SKYLIGHT enables in-situ weight updates that support label-free, layer-local learning (e.g., forward-forward local updates) in addition to inference. Using SimPhony for system-level modeling, we show that a single 144 x 256 SKYLIGHT core is feasible within a single reticle and delivers 342.1 TOPS at 23.7 TOPS/W, enabling ResNet-50 inference at 1212 FPS with 27 mJ per image, and achieves 84.17 FPS/W end-to-end (1.61 x higher than an NVIDIA RTX PRO 6000 Blackwell GPU) under the same workload in real-time measurements. System-level evaluations on four representative machine learning tasks, including unsupervised local self-learning, demonstrate SKYLIGHT's robustness to realistic hardware non-idealities (low-bit quantization and signal-proportional analog noise capturing modulation, PCM programming, and readout variations). With noise-aware training, SKYLIGHT maintains high task accuracy, validating its potential as a comprehensive solution for energy-efficient, large-scale photonic AI accelerators.
A Checklist for Deploying Robots in Public: Articulating Tacit Knowledge in the HRI Community
Venue: arXiv cs.RO 2026
Year: 2026

Many of the challenges encountered in in-the-wild public deployments of robots remain undocumented despite sharing many common pitfalls. This creates a high barrier of entry and results in repetition of avoidable mistakes. To articulate the tacit knowledge in the HRI community, this paper presents a guideline in the form of a checklist to support researchers in preparing for robot deployments in public. Drawing on their own experience with public robot deployments, the research team collected essential topics to consider in public HRI research. These topics are represented as modular flip cards in a hierarchical table, structured into deployment phases and important domains. We interviewed six interdisciplinary researchers with expertise in public HRI and show how including community input refines the checklist. We further show the checklist in action in context of real public studies. Finally, we contribute the checklist as an open-source, customizable community resource that both collects joint expertise for continual evolution and is usable as a list, set of cards, and an interactive web tool.
Do LLMs and VLMs Share Neurons for Inference? Evidence and Mechanisms of Cross-Modal Transfer
Venue: arXiv cs.CL 2026
Year: 2026

Large vision-language models (LVLMs) have rapidly advanced across various domains, yet they still lag behind strong text-only large language models (LLMs) on tasks that require multi-step inference and compositional decision-making. Motivated by their shared transformer architectures, we investigate whether the two model families rely on common internal computation for such inference. At the neuron level, we uncover a surprisingly large overlap: more than half of the top-activated units during multi-step inference are shared between representative LLMs and LVLMs, revealing a modality-invariant inference subspace. Through causal probing via activation amplification, we further show that these shared neurons encode consistent and interpretable concept-level effects, demonstrating their functional contribution to inference. Building on this insight, we propose Shared Neuron Low-Rank Fusion (SNRF), a parameter-efficient framework that transfers mature inference circuitry from LLMs to LVLMs. SNRF profiles cross-model activations to identify shared neurons, computes a low-rank approximation of inter-model weight differences, and injects these updates selectively within the shared-neuron subspace. This mechanism strengthens multimodal inference performance with minimal parameter changes and requires no large-scale multimodal fine-tuning. Across diverse mathematics and perception benchmarks, SNRF consistently enhances LVLM inference performance while preserving perceptual capabilities. Our results demonstrate that shared neurons form an interpretable bridge between LLMs and LVLMs, enabling low-cost transfer of inference ability into multimodal models. Our code is available at [https://github.com/chenhangcuisg-code/Do-LLMs-VLMs-Share-Neurons](https://github.com/chenhangcuisg-code/Do-LLMs-VLMs-Share-Neurons).
Direction-aware 3D Large Multimodal Models
Venue: arXiv cs.CV 2026
Year: 2026

3D large multimodal models (3D LMMs) rely heavily on ego poses for enabling directional question-answering and spatial reasoning. However, most existing point cloud benchmarks contain rich directional queries but lack the corresponding ego poses, making them inherently ill-posed in 3D large multimodal modelling. In this work, we redefine a new and rigorous paradigm that enables direction-aware 3D LMMs by identifying and supplementing ego poses into point cloud benchmarks and transforming the corresponding point cloud data according to the identified ego poses. We enable direction-aware 3D LMMs with two novel designs. The first is PoseRecover, a fully automatic pose recovery pipeline that matches questions with ego poses from RGB-D video extrinsics via object-frustum intersection and visibility check with Z-buffers. The second is PoseAlign that transforms the point cloud data to be aligned with the identified ego poses instead of either injecting ego poses into textual prompts or introducing pose-encoded features in the projection layers. Extensive experiments show that our designs yield consistent improvements across multiple 3D LMM backbones such as LL3DA, LL3DA-SONATA, Chat-Scene, and 3D-LLAVA, improving ScanRefer mIoU by 30.0% and Scan2Cap LLM-as-judge accuracy by 11.7%. In addition, our approach is simple, generic, and training-efficient, requiring only instruction tuning while establishing a strong baseline for direction-aware 3D-LMMs.
L3DR: 3D-aware LiDAR Diffusion and Rectification
Venue: arXiv cs.CV 2026
Year: 2026

Range-view (RV) based LiDAR diffusion has recently made huge strides towards 2D photo-realism. However, it neglects 3D geometry realism and often generates various RV artifacts such as depth bleeding and wavy surfaces. We design L3DR, a 3D-aware LiDAR Diffusion and Rectification framework that can regress and cancel RV artifacts in 3D space and restore local geometry accurately. Our theoretical and empirical analysis reveals that 3D models are inherently superior to 2D models in generating sharp and authentic boundaries. Leveraging such analysis, we design a 3D residual regression network that rectifies RV artifacts and achieves superb geometry realism by predicting point-level offsets in 3D space. On top of that, we design a Welsch Loss that helps focus on local geometry and ignore anomalous regions effectively. Extensive experiments over multiple benchmarks including KITTI, KITTI360, nuScenes and Waymo show that the proposed L3DR achieves state-of-the-art generation and superior geometry-realism consistently. In addition, L3DR is generally applicable to different LiDAR diffusion models with little computational overhead.
IDLM: Inverse-distilled Diffusion Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Diffusion Language Models (DLMs) have recently achieved strong results in text generation. However, their multi-step sampling leads to slow inference, limiting practical use. To address this, we extend Inverse Distillation, a technique originally developed to accelerate continuous diffusion models, to the discrete setting. Nonetheless, this extension introduces both theoretical and practical challenges. From a theoretical perspective, the inverse distillation objective lacks uniqueness guarantees, which may lead to suboptimal solutions. From a practical standpoint, backpropagation in the discrete space is non-trivial and often unstable. To overcome these challenges, we first provide a theoretical result demonstrating that our inverse formulation admits a unique solution, thereby ensuring valid optimization. We then introduce gradient-stable relaxations to support effective training. As a result, experiments on multiple DLMs show that our method, Inverse-distilled Diffusion Language Models (IDLM), reduces the number of inference steps by 4x-64x, while preserving the teacher model's entropy and generative perplexity.
TimeRadar: A Domain-Rotatable Foundation Model for Time Series Anomaly Detection
Venue: arXiv cs.LG 2026
Year: 2026

Current time series foundation models (TSFMs) primarily focus on learning prevalent and regular patterns within a predefined time or frequency domain to enable supervised downstream tasks (e.g., forecasting). Consequently, they are often ineffective for inherently unsupervised downstream tasks-such as time series anomaly detection (TSAD), which aims to identify rare, irregular patterns. This limitation arises because such abnormal patterns can closely resemble the regular patterns when presented in the same time/frequency domain. To address this issue, we introduce TimeRadar, an innovative TSFM built in a fractional time-frequency domain to support generalist TSAD across diverse unseen datasets. Our key insight is that rotating a time series into a data-dependent fractional time-frequency representation can adaptively differentiate the normal and abnormal signals across different datasets. To this end, a novel component, namely Fractionally modulated Time-Frequency Reconstruction (FTFRecon), is proposed in TimeRadar to leverage a learnable fractional order to rotate the time series to the most pronounced angle between a continuous time and frequency domain for accurate data reconstruction. This provides adaptive data reconstruction in an optimal time-frequency domain for each data input, enabling effective differentiation of the unbounded abnormal patterns from the regular ones across datasets, including unseen datasets. To allow TimeRadar to model local abnormality that is not captured by the global data reconstruction, we further introduce a Contextual Deviation Learning (CDL) component to model the local deviation of the input relative to its contextual time series data in the rotatable domain.
ChordEdit: One-Step Low-Energy Transport for Image Editing
Venue: arXiv cs.CV 2026
Year: 2026

The advent of one-step text-to-image (T2I) models offers unprecedented synthesis speed. However, their application to text-guided image editing remains severely hampered, as forcing existing training-free editors into a single inference step fails. This failure manifests as severe object distortion and a critical loss of consistency in non-edited regions, resulting from the high-energy, erratic trajectories produced by naive vector arithmetic on the models' structured fields. To address this problem, we introduce ChordEdit, a model agnostic, training-free, and inversion-free method that facilitates high-fidelity one-step editing. We recast editing as a transport problem between the source and target distributions defined by the source and target text prompts. Leveraging dynamic optimal transport theory, we derive a principled, low-energy control strategy. This strategy yields a smoothed, variance-reduced editing field that is inherently stable, facilitating the field to be traversed in a single, large integration step. A theoretically grounded and experimentally validated approach allows ChordEdit to deliver fast, lightweight and precise edits, finally achieving true real-time editing on these challenging models.